ICP DAS USA ECAT-2000 Series User Manual
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ICP DAS USA ECAT-2000 Series User Manual

Ethercat slave i/o modules
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ECAT-2000 Series EtherCAT
Slave
I/O Modules User Manual
English Ver. 1.9, Sep. 2019
WARRANTY
All products manufactured by ICP DAS are warranted against
defective materials for a period of one year from the date of
delivery to the original purchaser.
WARNING
ICP DAS assumes no liability for damages consequent to the
use of this product. ICP DAS reserves the right to change this
manual at any time without notice. The information furnished
by ICP DAS is believed to be accurate and reliable. However, no
responsibility is assumed by ICP DAS for its use, nor for any
infringements of patents or other rights of third parties
resulting from its use.
COPYRIGHT
Copyright © 2018 by ICP DAS. All rights are reserved.
TRADEMARK
Names are used for identification only and may be registered
trademarks of their respective companies.
CONTACT US
If you have any questions, please feel free to contact us via
email at:
service@icpdas.com, service.icpdas@gmail.com
S
UPPORT
ECAT-2024/2028
ECAT-2045/2045-32/2050/2051/2051-32
ECAT-2052/2052-NPN
ECAT-2053/2055/2055-32
ECAT-2057/2057-NPN/2057-8P8N/2057-32
ECAT-2060
ECAT-2061

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Summary of Contents for ICP DAS USA ECAT-2000 Series

  • Page 1 ECAT-2000 Series EtherCAT Slave I/O Modules User Manual English Ver. 1.9, Sep. 2019 WARRANTY All products manufactured by ICP DAS are warranted against defective materials for a period of one year from the date of delivery to the original purchaser.

  • Page 2: Table Of Contents

    ECAT-2000 series EtherCAT Slave I/O module TABLE OF CONTENTS INTRODUCTION ..............................4 ................................. 5 ACKAGE ............................7 RODUCT NFORMATION ..............................8 ELECTION UIDE HARDWARE INFORMATION ..........................9 ................................. 9 PPEARANCE ..............................12 PECIFICATION 2.2.1 System Specification ............................ 12 2.2.2 I/O Specification ............................13 ECAT-2024/2028 ..................................
  • Page 3 ECAT-2000 series EtherCAT Slave I/O module GETTING STARTED ............................28 PC ......................28 ONNECTING THE OWER AND THE ..........................30 ONFIGURATION AND PERATION Inserting into the EtherCAT network ......................... 30 OBJECT DESCRIPTION AND PARAMETERIZATION ..................32 1000-0 1FFF) ........................32...

  • Page 4: Introduction

    ECAT-2000 series EtherCAT Slave I/O module 1. Introduction The ECAT-2000 series are industrial EtherCAT slave remote I/O modules supporting EtherCAT protocol and installed by daisy chain connection which permits the flexibility in devices installation and reduces infrastructure and operation costs. All the modules can be deployed in the network topologies such as star, line or ring.

  • Page 5: Package List

    ECAT-2000 series EtherCAT Slave I/O module 1.1 Package List The shipping package includes the following items: Quick Start ECAT-2000 If any of these items is missing or damaged, please contact your local distributor for more information. Keep the shipping materials and overall package in case you want to NOTE ship the module back in the future.
  • Page 6 ECAT-2000 series EtherCAT Slave I/O module Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 6 -...

  • Page 7: Product Information

    ECAT-2000 series EtherCAT Slave I/O module 1.2 Product Information The ECAT-2000 series of EtherCAT slave modules support a range of I/O formats, such as photo-isolated digital input, relay contact ,and open-collector output, etc. The table below provides a description of each model.

  • Page 8: Selection Guide

    ECAT-2000 series EtherCAT Slave I/O module 1.3 Selection Guide DC Digital I/O Digital Input Digital Output Model Channel Type Channel Type Max. Load Current ECAT-2057 Open Emitter(Source) 100 mA/ch ECAT-2057-32 Open Emitter(Source) 500 mA/ch ECAT-2057-NPN Open Collector(Sink) 100 mA/ch Open Collector(Sink)

  • Page 9: Hardware Information

    2. EtherCAT Interface DC Power Input Connector The “+Vs” and “GND” pins are used for the power supply applies to all types of ECAT-2000 series module. The valid power voltage range is from +10 to +30 V The definition of “F.G.” (Frame Ground): Electronic circuits are constantly vulnerable to Electrostatic Discharge (ESD), which becomes worse in a continental climate area.
  • Page 10 ECAT-2000 series EtherCAT Slave I/O module Front Panel ECAT-2045-32 ECAT-2051-32 3. Status Indicator ECAT-2055-32 ECAT-2057-32 ECAT-2024/2028 ECAT-2061 ECAT-2045/2050 ECAT-2051 ECAT-2052 ECAT-2052-NPN ECAT-2053/2055 4. PWR LED Indicator ECAT-2057 ECAT-2057-NPN 5. I/O Indicator ECAT-2057-8P8N ECAT-2060 6. I/O Connector Status Indicator Notation Color...
  • Page 11 ECAT-2000 series EtherCAT Slave I/O module PWR LED Indicator Once power is supplied to the ECAT-2000 series module, the system LED indicator will illuminate. I/O Indicator The exact design and functionality depends on the module type which indicates the I/O status.

  • Page 12: Specification

    ECAT-2000 series EtherCAT Slave I/O module 2.2 Specification 2.2.1 System Specification Item Specification Communication Ethernet Port 2 x RJ-45, 100 BASE-TX Protocol EtherCAT Distance between Station Max. 100 m (100 BASE-TX) Data Transfer Medium Ethernet/EtherCAT Cable (Min. CAT 5), Shielded...

  • Page 13: I/O Specification

    ECAT-2000 series EtherCAT Slave I/O module 2.2.2 I/O Specification ECAT-2024/2028 Model ECT-2024 ECAT-2028 Analog Output Channels ±5 V, ±10 V, 0~5V, 0~10V Range 12-bit Resolution +/- 0.1% of FSR Accuracy +/- 30 μV/°C Zero Drift +/- 25 ppm/°C Span Drift...

  • Page 14: Ecat-2052/2052-Npn

    ECAT-2000 series EtherCAT Slave I/O module ECAT-2052/2052-NPN Model ECAT-2052 ECAT-2052-NPN Digital Input Channels Contact Sink/Source (NPN/PNP) Sink/Source +3.5 V ~ +50 V On Voltage Level Off Voltage Level +2 V Max. Isolation Voltage 3750 V Digital Output Channels Type Open emitter...

  • Page 15: Ecat-2055/2055-32

    ECAT-2000 series EtherCAT Slave I/O module ECAT-2055/2055-32 Model ECAT-2055 ECAT-2055-32 Digital Input Channels Dry/Wet Contact Dry: Sink, Wet: Sink/Source Sink/Source (NPN/PNP) Dry: Close to GND, Wet: +10 V ~ +50 V On Voltage Level Dry: Open, Wet: +4 V Max.

  • Page 16: Ecat-2057-32

    ECAT-2000 series EtherCAT Slave I/O module ECAT-2057-32 Model ECAT-2057-32 Digital Output Channels Type Open emitter Sink/Source (NPN/PNP) Source Load Voltage +10 V ~ +40 V Max. Load Current 500 mA/Channel Isolation Voltage 2500 V ECAT-2050 Model ECAT-2050 Digital Input Channels...

  • Page 17: Ecat-2060/2061

    ECAT-2000 series EtherCAT Slave I/O module ECAT-2060/2061 Model ECAT-2060 ECAT-2061 Digital Input Channels Contact Dry/Wet Dry: Sink Sink/Source (NPN/PNP) Wet: Sink/Source Dry: Close to GND On Voltage Level Wet: +10 V ~ +50 V Dry: Open Off Voltage Level Wet: +4 V Max.

  • Page 18: Pin Assignments

    ECAT-2000 series EtherCAT Slave I/O module 2.3 Pin Assignments EtherCAT Interface Terminal No. Pin Assignment F.G. + Vs ECAT-2024 Terminal No. Pin Assignment Pin Assignment Terminal No. VOUT0 VOUT1 VOUT2 VOUT3 F.G. F.G. F.G. F.G. ECAT-2028 Terminal No. Pin Assignment Pin Assignment Terminal No.

  • Page 19: Ecat-2045/2057/2057-Npn/2057-8P8N

    ECAT-2000 series EtherCAT Slave I/O module ECAT-2045/2057/2057-NPN/2057-8P8N Terminal No. Pin Assignment Pin Assignment Terminal No. EXT.GND EXT.GND DO10 DO11 DO12 DO13 DO14 DO15 EXT.PWR EXT.PWR ECAT-2051 Pin Assignment Terminal No. Terminal No. Pin Assignment DI10 DI11 DI12 DI13 DI14 DI15 DI.COM...

  • Page 20: Ecat-2053

    ECAT-2000 series EtherCAT Slave I/O module ECAT-2053 Terminal No. Pin Assignment Pin Assignment Terminal No. N.C. N.C. DI10 DI11 DI12 DI13 DI14 DI15 DI.COM DI.COM ECAT-2055 Pin Assignment Terminal No. Terminal No. Pin Assignment EXT.GND EXT.PWR DI.COM ECAT-2060 Terminal No.

  • Page 21: Ecat-2050

    ECAT-2000 series EtherCAT Slave I/O module ECAT-2050 Pin Assignment Terminal No. Terminal No. Pin Assignment DI.COM DI10 DI11 DI12 EXT.PWR EXT.GND ECAT-2045-32/2057-32 Terminal No. Pin Assignment Pin Assignment Terminal No. EXT.PWR EXT.PWR DO16 DO17 DO18 DO19 DO20 DO21 DO22 DO23...

  • Page 22: Ecat-2051-32

    ECAT-2000 series EtherCAT Slave I/O module ECAT-2051-32 Pin Assignment Terminal No. Terminal No. Pin Assignment DI16 DI17 DI18 DI19 DI20 DI21 DI22 DI23 DI24 DI25 DI26 DI10 DI27 DI11 DI28 DI12 DI29 DI13 DI30 DI14 DI31 DI15 DI.COM DI.COM Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved.

  • Page 23: Ecat-2055-32

    ECAT-2000 series EtherCAT Slave I/O module ECAT-2055-32 Terminal No. Pin Assignment Pin Assignment Terminal No. EXT.GND DO10 DI10 DO11 DI11 DO12 DI12 DO13 DI13 DO14 DI14 DO15 DI15 EXT.PWR DI.COM ECAT-2061 Terminal No. Pin Assignment Pin Assignment Terminal No. COM0...

  • Page 24: Wiring Connections

    ECAT-2000 series EtherCAT Slave I/O module 2.4 Wiring Connections Input Wiring Digital Model Readback as 1 Readback as 0 Input/Counter Close to GND Open ECAT-2051 DI.GND DI.GND +S5 V +S5 V ECAT-2051-32 ECAT-2055 Dry Contact ECAT-2055-32 To other To other...

  • Page 25: Output Wiring

    ECAT-2000 series EtherCAT Slave I/O module Output Wiring Output ON State OFF State Model Type Readback as 1 Readback as 0 EXT.PWR EXT.PWR ECAT-2052-NPN Driver ECAT-2055 Relay ECAT-2055-32 EXT.GND EXT.GND ECAT-2045 ECAT-2045-32 EXT.PWR EXT.PWR Resistance ECAT-2057-NPN ECAT-2057-8P8N(DO8-15) Load EXT.GND EXT.GND...

  • Page 26: Wiring To The Connector

    ECAT-2000 series EtherCAT Slave I/O module 2.5 Wiring to the Connector A tip for connection the wire to the connector Use the blade of a flat-head screwdriver to push  the wire clamp, then hold until step 2 complete. Insulated Terminals Dimensions ...

  • Page 27: Dimensions

    ECAT-2000 series EtherCAT Slave I/O module 2.6 Dimensions The following diagrams provide the dimensions of the ECAT-2000 series module and can be used as a reference when defining the specifications for any custom enclosures. All dimensions are in millimeters. ECAT-2024/2028/2045/2050/2051/2052/2053/2055/20...

  • Page 28: Getting Started

    ECAT-2000 series EtherCAT Slave I/O module 3. Getting Started This chapter provides a basic overview of how to configure and operate your ECAT-2000 series module. 3.1 Connecting the Power and the Host PC Step 1 Connect both the IN port of ECAT-2000 module and RJ-45 Ethernet port of Host PC.
  • Page 29 ECAT-2000 series EtherCAT Slave I/O module Step 3 Verify the “PWR”LED indicator on the ECAT-2000 module is Red, “IN”LED indicator is Green. Red, OK Green, OK █ Copyright © 2017 ICP DAS CO., Ltd. All Rights Reserved. - 29 -...

  • Page 30: Configuration And Operation

    ECAT-2000 series EtherCAT Slave I/O module 3.2 Configuration and Operation Beckhoff TwinCAT 2.X is most commonly used EtherCAT Master software to operate ECAT-2000 module. Inserting into the EtherCAT network Installation of the latest XML device description(ESI) NOTE Please ensure that you have installed the latest XML device description in TwinCAT.
  • Page 31 ECAT-2000 series EtherCAT Slave I/O module Step 2 Configuration via TwinCAT In the left-hand of the TwinCAT System Manager, click on the branch of the EtherCAT Box you wish to configure (ECAT-2055-32 in this example). Click DIx or DOx to get and configure state.

  • Page 32: Object Description And Parameterization

    ECAT-2000 series EtherCAT Slave I/O module 4. Object Description and Parameterization 4.1 Standard Object(0x1000-0x1FFF) [ALL]Index 1000 Device Type Index Name Meaning Data type Flags Default 1000:00 Device type Device type of the EtherCAT slave: the UINT32 0x00000192 (402dec) Lo-Word contains the CoE profile used (5001).

  • Page 33: [All]Index 1009 Hardware Version

    ECAT-2000 series EtherCAT Slave I/O module [ALL]Index 1009 Hardware Version Index Name Meaning Data type Flags Default String 1009:00 Hardware version Hardware version of the EtherCAT slave [ALL]Index 100A Software Version Index Name Meaning Data type Flags Default Firmware version for EtherCAT slave...

  • Page 34: [Ecat-2050]Index 160N(0<=N<=3) Do Outputs Process Data Mapping

    ECAT-2000 series EtherCAT Slave I/O module [ECAT-2050]Index 160n(0<=n<=3) DO Outputs Process Data Mapping Data Index Name Meaning Flags Default type DO Output process 160n:00 PDO Mapping RxPDO n+1 UINT8 0x02(2dec) data mapping 160n:01 SubIndex 001 PDO Mapping entry (object 0x70n0,entry 0x01)

  • Page 35: [Ecat-2045-32/2057-32]Index 1600 Do Outputs Process Data Mapping

    ECAT-2000 series EtherCAT Slave I/O module [ECAT-2045-32/2057-32]Index 1600 DO Outputs Process Data Mapping Data Index Name Meaning Flags Default type DO Output process 1600:00 PDO Mapping RxPDO 1 UINT8 0x21(33dec) data mapping 1600:01 SubIndex 001 PDO Mapping entry (object 0x7000,entry 0x01)

  • Page 36: [Ecat-2024/2028]Index 160N Ao Outputs Process Data Mapping

    ECAT-2000 series EtherCAT Slave I/O module [ECAT-2024/2028]Index 160n AO Outputs Process Data Mapping NOTE: ECAT-2024: 0<= n <=3; ECAT-2028: 0<= n <=7. Index Name Meaning Data type Flags Default AO Output process 160n:00 PDO Mapping RxPDO n+1 UINT8 0x01(1dec) data mapping...

  • Page 37: [Ecat-2051-32]Index 1A00 Di Outputs Process Data Mapping

    ECAT-2000 series EtherCAT Slave I/O module [ECAT-2051-32]Index 1A00 DI Outputs Process Data Mapping Data Index Name Meaning Flags Default type DI Output process 1A00:00 PDO Mapping TxPDO 1 UINT8 0x21(33dec) data mapping 1A00:01 SubIndex 001 PDO Mapping entry (object 0x6000,entry 0x01)

  • Page 38: [All]Index 1C00 Sync Manager Type

    ECAT-2000 series EtherCAT Slave I/O module [ALL]Index 1C00 Sync Manager Type Index Name Meaning Data type Flags Default 1C00:00 Sync manager type Using the sync managers UINT8 0x04(4dec) 1C00:01 SubIndex 001 Sync-Manager Channel 1:Mailbox write UINT8 0x01(1dec) 1C00:02 SubIndex 002...

  • Page 39: [Ecat-2055-32/2051-32]Index 1C13 Syncmanager 3 Assignment

    ECAT-2000 series EtherCAT Slave I/O module [ECAT-2055-32/2051-32]Index 1C13 SyncManager 3 Assignment Index Name Meaning Data type Flags Default 1C13:00 Sync-Manager 3 assignment Sync manager assign outputs UINT8 0x01(1dec) 1C13:01 SubIndex 001 1st allocated TxPDO UINT16 0x1A00(6656dec) [ECAT-2050]Index 1C13 SyncManager 3 Assignment...

  • Page 40: Profile Specific Objects (0 6000-0 7Fff)

    ECAT-2000 series EtherCAT Slave I/O module 4.2 Profile Specific Objects(0x6000-0x7FFF) [ECAT-2050]Index 60n0(0<=n<=C) Digital Inputs Index Name Meaning Data type Flags Default 60n0:00 UINT8 0x2(2dec) 60n0:01 Inputs BOOLEAN 0x00(0dec) [ECAT-2055-32]Index 6000 Digital Inputs Index Name Meaning Data type Flags Default 6000:00...

  • Page 41: [Ecat-2051-32]Index 6000 Digital Inputs

    ECAT-2000 series EtherCAT Slave I/O module [ECAT-2051-32]Index 6000 Digital Inputs Index Name Meaning Data type Flags Default 6000:00 Digital Inputs UINT8 0x21(33dec) 6000:01 BOOLEAN 0x00(0dec) 6000:02 BOOLEAN 0x00(0dec) 6000:03 BOOLEAN 0x00(0dec) 6000:04 BOOLEAN 0x00(0dec) 6000:05 BOOLEAN 0x00(0dec) 6000:06 BOOLEAN 0x00(0dec)

  • Page 42: [Ecat-2050]Index 70N0(0<=N<=C) Digital Outputs

    ECAT-2000 series EtherCAT Slave I/O module [ECAT-2050]Index 70n0(0<=n<=C) Digital Outputs Index Name Meaning Data type Flags Default 70n0:00 UINT8 0x2(2dec) 70n0:01 Outputs BOOLEAN 0x00(0dec) [ECAT-2055-32]Index 7000 Digital Outputs Index Name Meaning Data type Flags Default 7000:00 Digital Outputs UINT8 0x11(17dec)

  • Page 43: [Ecat-2045-32/2057-32]Index 7000 Digital Outputs

    ECAT-2000 series EtherCAT Slave I/O module [ECAT-2045-32/2057-32]Index 7000 Digital Outputs Index Name Meaning Data type Flags Default 7000:00 Digital Outputs UINT8 0x21(33dec) 7000:01 BOOLEAN 0x00(0dec) 7000:02 BOOLEAN 0x00(0dec) 7000:03 BOOLEAN 0x00(0dec) 7000:04 BOOLEAN 0x00(0dec) 7000:05 BOOLEAN 0x00(0dec) 7000:06 BOOLEAN 0x00(0dec)

  • Page 44: [Ecat-2024/2028]Index 70N0 Ao Outputs Channel

    ECAT-2000 series EtherCAT Slave I/O module [ECAT-2024/2028]Index 70n0 AO Outputs Channel NOTE: ECAT-2024: 0<= n <=3; ECAT-2028: 0<= n <=7. Data Index Name Meaning Flags Default type ECAT-2024: AO Outputs Ch. 1-4 70n0:00 UINT8 0x02(2dec) ECAT-2028: AO Outputs Ch. 1-8...

  • Page 45: Calculation Of Process Data

    ECAT-2000 series EtherCAT Slave I/O module Calculation of process data The concept “ calibration ” , this is a description of the vendor or customer calibration data/adjustment data used by the device during operation in order to maintain the assured measuring accuracy.

  • Page 46: [Ecat-2024/2028]Index 80N0 Ao Channel Settings

    ECAT-2000 series EtherCAT Slave I/O module [ECAT-2024/2028]Index 80n0 AO Channel Settings NOTE: ECAT-2024: 0<= n <=3; ECAT-2028: 0<= n <=7. Index Name Meaning Data type Flags Default ECAT-2024: AO Settings Ch. 1-4 80n0:00 UINT8 0x25(37dec) ECAT-2028: AO Settings Ch. 1-8...

  • Page 47: [Ecat-2024/2028]Index 80Ne Ao Channel Internal Data

    ECAT-2000 series EtherCAT Slave I/O module [ECAT-2024/2028]Index 80nE AO Channel Internal Data NOTE: ECAT-2024: 0<= n <=3; ECAT-2028: 0<= n <=7. Index Name Meaning Flags Default Data type ECAT-2024: AO internal data Ch. 1-4 80nE:0 UINT8 0x01(1dec) ECAT-2028: AO internal data Ch. 1-8...

  • Page 48: Appendix: Revision History

    ECAT-2000 series EtherCAT Slave I/O module Appendix: Revision History This chapter provides revision history information to this document. The table below shows the revision history. Revision Date Description 2013 Initial issue 2015 1. Added the information about the ECAT-2050 specification, I/O connector (Pin assignment), I/O status LEDs, and wire connection in Section 2.3 ECAT-2050.
  • Page 49 ECAT-2000 series EtherCAT Slave I/O module into the EtherCAT network. 7. Added the Chapter 4 Object Description and Parameterization. 8. Added the Section 4.1 Standard Object (0x1000-0x1FFF). 9. Added the Section 4.2 Profile Standard Object (0x6000-0x7FFF). Dec. 2016 1. Added the information about the ECAT-2024/2028 specification in Section 2.2 I/O Specifications.

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